Arduino-Projects/whiteboardTriangles at main · alyhoang/Arduino-Projects · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Module:       main.cpp                                                  */
/*    Author:       VEX                                                       */
/*    Created:      Tue Mar 16 2021                                           */
/*    Description:  Arm Manual Movement                                       */
/*                                                                            */
/*    This example will continuously display the current                      */
/*    position of the arm on the V5 Brain's screen and allow you              */
/*    to manually move the arm around                                         */
/*                                                                            */
/*----------------------------------------------------------------------------*/


// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name]               [Type]        [Port(s)]
// RoboticArm1          RoboticArm    1, 2, 3, 4, 1, 2, 3, 4
// EStop                bumper        E
// ---- END VEXCODE CONFIGURED DEVICES ----


#include "vex.h"


using namespace vex;


int Brain_precision = 0, Console_precision = 0;


float myVariable, startX, startY, startZ, Index;


float Triangles[10][3];


event message1 = event();


// "when started" hat block
int whenStarted1() {
 RoboticArm1.setMasteringValues(1602,1918,2075,402);
 RoboticArm1.setToolTipOffset(1.05, 0.0, -1.0);
 Triangles[0][0] = 6.0;
 Triangles[0][1] = -4.0;
 Triangles[0][2] = 3.0;
 Triangles[1][0] = 6.0;
 Triangles[1][1] = -4.0;
 Triangles[1][2] = 1.5;
 Triangles[2][0] = 8.7;
 Triangles[2][1] = -6.0;
 Triangles[2][2] = 1.5;
 Triangles[3][0] = 8.8;
 Triangles[3][1] = -2.4;
 Triangles[3][2] = 1.5;
 Triangles[4][0] = 6.0;
 Triangles[4][1] = -4.0;
 Triangles[4][2] = 1.6;
 Triangles[5][0] = 6.6;
 Triangles[5][1] = 3.5;
 Triangles[5][2] = 3.0;
 Triangles[6][0] = 6.6;
 Triangles[6][1] = 3.5;
 Triangles[6][2] = 1.5;
 Triangles[7][0] = 9.0;
 Triangles[7][1] = 1.5;
 Triangles[7][2] = 1.5;
 Triangles[8][0] = 9.0;
 Triangles[8][1] = 5.0;
 Triangles[8][2] = 1.5;
 Triangles[9][0] = 6.6;
 Triangles[9][1] = 3.5;
 Triangles[9][2] = 1.5;Index = 1.0;
 repeat(10) {
   RoboticArm1.moveToPositionLinear(Triangles[static_cast<int>(Index) - 1][static_cast<int>(1) - 1], Triangles[static_cast<int>(Index) - 1][static_cast<int>(2) - 1], Triangles[static_cast<int>(Index) - 1][static_cast<int>(3) - 1]);
   Index = Index + 1.0;
   wait(5, msec);
 }
 return 0;
}


// "when EStop pressed" hat block
void onevent_EStop_pressed_0() {
 RoboticArm1.emergencyStop();
}


// "when started" hat block
int whenStarted2() {
 Brain.Screen.setFont(mono60);
 Brain_precision = 3;
 while (true) {
   Brain.Screen.clearScreen();
   // Display the X position on row 1
   Brain.Screen.setCursor(1, 1);
   Brain.Screen.print("X: ");
   Brain.Screen.print(static_cast<float>(RoboticArm1.getAxisPosition(xaxis)));
   Brain.Screen.newLine();
   // Display the Y position on row 2
   Brain.Screen.print("Y: ");
   Brain.Screen.print(static_cast<float>(RoboticArm1.getAxisPosition(yaxis)));
   Brain.Screen.newLine();
   // Display the Z position on row 3
   Brain.Screen.print("Z: ");
   Brain.Screen.print(static_cast<float>(RoboticArm1.getAxisPosition(zaxis)));
   wait(0.2, seconds);
 wait(5, msec);
 }
 return 0;
}


int main() {
 // register event handlers
 EStop.pressed(onevent_EStop_pressed_0);


 wait(15, msec);
 // post event registration


 // set default print color to black
 printf("\033[30m");


 // wait for rotation sensor to fully initialize
 wait(30, msec);


 vex::task ws1(whenStarted2);
 whenStarted1();
}